Lenze 931M Series, Communications Manual

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CANopen communication
Parameter data transfer (SDO transfer)
Telegram structure
5

21
KHB 13.0003-EN 2.0
Error code (F0 ... F3)
11 bits 4 bits User data (up to 8 bytes)
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Identifier
Data
length
Command
code
Index
low byte
Index
high byte
Subindex
F0 F1 F2 F3
Error code
ƒ
Byte 1:
Code 80
h
in the command code byte indicates that an error has occurred.
ƒ
Bytes 2, 3 and 4:
These bytes contain the index (bytes 2 and 3) and the subindex (byte 4) at which an
error occurred.
ƒ
Bytes 5 to 8:
The data bytes 5 to 8 contain the error code . The error code is represented opposite
to the direction of reading.
Example:
The representation of the error code 06 04 00 41
h
in bytes 5 to 8
Reading direction of the error code
41 00 04 06
5th byte 6th byte 7th byte 8th byte
Low word High word
Low byte High byte Low byte High byte
The below table lists the meanings of the error numbers:
Error code Explanation
F3 F2 F1 F0
06 01 00 00 Object access not supported
06 01 00 01 Read access to object which can only be written
06 01 00 02 Write access to object which can only be read
06 02 00 00 Object addressed not listed in object directory
06 04 00 41 Object must not be mapped to PDO
06 04 00 42 Number and length of objects to be transferred exceed PDO length.
06 07 00 10 Protocol error: Unsuitable service parameter length
06 07 00 12 Protocol error: Service parameter length too long
06 07 00 13 Protocol error: Service parameter length not long enough
06 09 00 11 Subindex not available
06 09 00 30 Data exceed object value range
06 09 00 31 Data too high for object
06 09 00 32 Data too low for object
08 00 00 20 Data cannot be transferred / stored.
1)
08 00 00 21 Data cannot be transferred / stored due to local control
08 00 00 22 Data cannot be transferred / stored due to current controller status.
2)
1)
According to DS301, data is returned in case of faulty access to store_parameters / restore_parameters.
2)
May be due to wrong operating mode or if the number of objects to be mapped is written when PDO is activated.